EP2407283B1 - Bras robotisé, robots industriels et méthode d'élaboration d'un modèle de robot mathématique - Google Patents

Bras robotisé, robots industriels et méthode d'élaboration d'un modèle de robot mathématique Download PDF

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Publication number
EP2407283B1
EP2407283B1 EP11172966.1A EP11172966A EP2407283B1 EP 2407283 B1 EP2407283 B1 EP 2407283B1 EP 11172966 A EP11172966 A EP 11172966A EP 2407283 B1 EP2407283 B1 EP 2407283B1
Authority
EP
European Patent Office
Prior art keywords
robot
model
control device
robot arm
arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Revoked
Application number
EP11172966.1A
Other languages
German (de)
English (en)
Other versions
EP2407283A2 (fr
EP2407283A3 (fr
Inventor
Thomas Purrucker
Ralf Mittmann
Michael Groll
Markus Hager
Sebastian Kaderk
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
Original Assignee
KUKA Roboter GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Application filed by KUKA Roboter GmbH filed Critical KUKA Roboter GmbH
Publication of EP2407283A2 publication Critical patent/EP2407283A2/fr
Publication of EP2407283A3 publication Critical patent/EP2407283A3/fr
Application granted granted Critical
Publication of EP2407283B1 publication Critical patent/EP2407283B1/fr
Revoked legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40527—Modeling, identification of link parameters

Definitions

  • the invention relates to a robot arm, an industrial robot and a method for creating a mathematical robot model.
  • Industrial robots are working machines that can be equipped for the automatic handling and / or machining of objects with tools and are programmable in several axes of motion, for example, in terms of orientation, position and workflow.
  • Industrial robots typically include a multi-axis robot arm and programmable controllers (control devices) that control the motion of the industrial robot during operation.
  • the controllers have physical models of the robotic arm.
  • the general spatial movements of the robotic arm are described with a kinematic model of the robotic arm, which essentially describes the geometry of the robotic arm without forces or torques acting on the robotic arm. Due to the possibly also load-dependent forces or moments caused deformations of the robot arm, however, can lead to an actual position of the robot arm is different from its desired position.
  • the robot may also have a dynamics model which, taking into account mass properties, describes a relationship between coordinates of the axes of the robot arm, their speeds and accelerations, as well as forces and moments.
  • the static position errors may take into account the mass properties and elasticities of the robot arm, thereby improving the absolute accuracy of the robot.
  • This can be taken into account by means of a so-called absolutely accurate model of the robot arm, ie a model with consideration of usually specimen-specific static deformations.
  • a so-called absolutely accurate model of the robot arm ie a model with consideration of usually specimen-specific static deformations.
  • at least one of the models mentioned is determined by the manufacturer and stored, for example, on the controller. A subsequent change, especially at the site of the robot is not provided.
  • the DE 10 2004 026 814 A1 discloses measuring a robot arm of a robot to store the measurements in a memory of the controller of the robot. Based on the measured values, the control device creates an absolutely precise control model of the robot.
  • the document US 2010/030377 A1 relates to a serpentine robotic arm having movable segments embodied as microelectronic-mechanical systems (MEMS) with built-in addressable controllers.
  • MEMS microelectronic-mechanical systems
  • the object of the invention is to provide a more flexible robot arm or a more flexible industrial robot.
  • the object of the invention is achieved by a robot arm, comprising a plurality of successively arranged and connected by joints members, an electronic data set, due to which a mathematical robot model of the robot arm can be created by means of a computer program, and arranged in or on the robot arm electronic data carrier, in which Record is saved.
  • the object of the invention is also achieved by an industrial robot, comprising the robot arm according to the invention and a control device controlling and / or regulating the movement of the robot arm.
  • an industrial robot for controlling and / or regulating the movement of its robot arm requires a robotic arm-describing mathematical robot model, which is stored in the control device in conventional industrial robots and therefore can not be changed.
  • the robot arm or the industrial robot comprises the electronic data record on the basis of which the robot model can be calculated.
  • the data set therefore comprises, in particular, raw data or basic data on the basis of which the robot model can be calculated.
  • the data set e.g. is stored on the disk in or on the robot arm, it is e.g. it is possible to generally change due to an update of the calculation rule, based on which the robot model is calculated based on the data set, to update the robot model in a relatively simple way for the industrial robot.
  • the robot model is e.g. a kinematic model or a dynamic model of the robot arm.
  • the robot model is an absolutely accurate model of the robotic arm.
  • a computer program is stored in the control device, which calculates the robot model on the basis of the data set.
  • the calculation rule for calculating the robot model that is to say the computer program, in the event of a change in the control and / or regulation to adapt to this change, for example, to obtain a robot model better suited to the change.
  • control device calculates the robot model on the basis of the data set when it starts up.
  • control device calculates the robot model every time it starts up.
  • the robot arm can be measured, for example, as is known in principle to the person skilled in the art.
  • the survey provides survey data that includes the electronic data set.
  • the robot arm can be measured, for example, by means of a camera system in order to determine errors in the positioning accuracy of the robot arm, for example due to manufacturing tolerances. Due to these errors, the robot model can then be created by means of a suitable calculation rule.
  • the industrial robot according to the invention can be set up so that, if appropriate, the control device has calculated the robot model, the robot model is stored in the control device and / or in the data carrier.
  • the control device can then in particular control and / or regulate the movement of the robot arm based on the robot model.
  • At least two such arithmetical rules for a robot model of the same type e.g. at least two computational rules for creating an absolutely accurate robot model of the robot arm are available, of which depending on the application of the industrial robot according to the invention one is better than the other. Due to the variant according to which the two calculation rules, e.g. can be offered when commissioning the industrial robot according to the invention or at a later date, for example, an operator of the industrial robot, this can select the better variant for the current application.
  • the information for example, from measured values by means of which the robot model or possibly the robot models can be determined, is permanently stored as basic information on the robot according to the invention, in particular on the data carrier of the robot arm.
  • the basic information is in particular the data that are generated when measuring the robot. This includes, for example, associated with a certain axis position a Cartesian positioning error in space.
  • These data are robot-specific and can preferably be stored automatically during the measurement on the data carrier of the robot arm. If, for example, the commissioning of the robot according to the invention causes the connected control device to start, it may be possible to decide with which robot model one would like to work. You could also change the robot models at a later date without exceeding the accuracy limit.
  • robotic models have advantages and disadvantages in certain applications.
  • the robot model that provides better accuracy.
  • further robot models can be introduced and managed at any time. This ensures compatibility with old and new robot models.
  • Another benefit of robotic model independence is that it eliminates the administrative burden on the various robot models.
  • the Fig. 1 shows in a perspective view of an industrial robot 1 with a robot arm 2 and with a control device. 9
  • the robot arm 2 comprises in the case of the present embodiment, a plurality of successively arranged and connected by joints members.
  • the links are, in particular, a stationary or movable frame 3 and a carousel 4 rotatably mounted relative to the frame 3 about a vertically extending axis A1.
  • Further links of the robot arm 2 in the case of the present embodiment are a rocker 5, a boom 6 and a preferably multi-axis robot hand 7, on which a flange 8 is arranged.
  • the flange 8 for example, a not-shown end effector can be attached.
  • the rocker 5 is pivotally mounted at the lower end, for example on a swing bearing head not shown on the carousel 4 about a preferably horizontal axis A2.
  • the arm 6 is pivotally mounted about a likewise preferably horizontal axis A3.
  • This end carries the robot hand 7 with its preferably three axes A4, A5, A6.
  • the control device 9 is arranged in a control cabinet, not shown.
  • control device 9 which is embodied for example as a PC, a computer program known in principle to the person skilled in the art operates, which controls the electric drives in such a way that the robot arm 2 executes a predetermined movement.
  • the control device 9 is connected, for example via an electrical connection 11, for example in the form of an electrical line to the robot arm 2, in particular to a connection box 12, which is arranged, for example, in or on the frame 3 of the robot arm 2.
  • the control cabinet or the control device 9 can be set up several meters from the robot arm 2.
  • a data memory or data carrier 13 connected to the control device 9 via the electrical connection 11 is arranged in the connection box 12, on which a data set associated with the robot arm 2 of the industrial robot 1 is stored.
  • the data record stored in the data carrier 13 has basic data associated with the individual robot arm 2, by virtue of which it is possible to create a mathematical robot model from the robot arm 2 by means of a suitable computer program known in principle to the person skilled in the art.
  • the robot model may be, for example, a kinematic model or a dynamic model of the robot arm 2.
  • the robot model is an absolutely accurate model of the robot arm 2.
  • not only a computer program for controlling or regulating the movement of the robot arm 2 is stored on the control device 9, but also the computer program which calculates the robot model from the data record stored in the data carrier 13. Due to the calculated calculation model, the control device 9 is enabled to control the movement of the robot arm 2.
  • the robot model at the installation site of the industrial robot 1 in particular individually according to the individual application and by means of the control device 9 of the industrial robot 1. It is also possible, if appropriate, to update the robot model, if the computer program provided on the basis of the data set for creating the robot model should be improved or changed. In particular, it may be provided to create the robot model, for example during the commissioning of the industrial robot 1, by means of the data record at the installation site of the industrial robot 1. Then it can be provided, the created robot model eg on the control device 9 and / or on the disk 13 to save. However, it is also possible that the control device 9 is set up to recreate the calculation model by means of its computer program and based on the data set before each start-up of the control device 9.
  • an operator e.g. due to the current application of the industrial robot 1 receives a selection of at least two computational rules or algorithms that calculate different robot models of the same type due to different calculations.
  • the control device 9 e.g. at least two different calculation rules for creating an absolutely accurate robot model of the robot arm 2 are stored.
  • one or the other robot model for the control or regulation of the industrial robot 1 may be more advantageous.
  • the operator at the installation site can thus have a robot model, which is favorable for the current application, produced by means of the control device 9, in particular during commissioning and / or at a point in time.
  • it may be provided to deposit a further calculation rule for a further robot model or an alternative robot model at a later time, which can be created on the basis of the data record by means of the control device 9.
  • the Fig. 2 illustrates by means of a flow chart possible steps for obtaining the mathematical robot model by means of a data set which can be used to create an absolutely accurate robot model.
  • the robotic arm 2 is measured, for example, at the robot manufacturer, step A of the in the Fig. 2 illustrated flow chart. Subsequently, the robot arm 2 or the measurement is verified, step B of the flowchart.
  • the measurement of the robot arm 2 as such is known in principle to the person skilled in the art and will therefore not be explained in detail.
  • Based on the survey one obtains survey data, ie a data set which includes basic data necessary for the calculation of the robot model. This data record is stored in the data carrier 13, in particular at the robot manufacturer, step C of the flowchart.
  • step D of the flow chart it can be decided, for example, on the basis of which calculation rule and based on the data set the robot model, in particular the absolutely exact robot model, to be calculated, step D of the flow chart.

Claims (11)

  1. Bras de robot présentant plusieurs membres (3 - 7) agencés les uns derrière les autres et reliés au moyen d'articulations, caractérisé par un support de données (13) électronique agencé dans ou sur le bras de robot (2), dans lequel est mémorisé un jeu de données électronique sur la base duquel un modèle de robot mathématique du bras de robot (2) peut être élaboré au moyen d'un programme de calcul.
  2. Robot industriel présentant un bras de robot (2) selon la revendication 1 et un dispositif de commande commandant et/ou réglant le mouvement du bras de robot (2).
  3. Robot industriel selon la revendication 2, dans lequel le modèle de robot est un modèle cinématique, un modèle dynamique et/ou un modèle absolument exact du bras de robot (2).
  4. Robot industriel selon la revendication 2 ou 3, dans lequel dans le dispositif de commande (9) est mémorisé un programme de calcul qui calcule le modèle de robot sur la base du jeu de données.
  5. Robot industriel selon la revendication 4, dans lequel le dispositif de commande (9) est conçu pour mémoriser le modèle de robot, après le calcul de celui-ci, dans le dispositif de commande (9) et dans le support de données (13) et en particulier de commander et/ou de régler le mouvement du bras de robot (2) sur la base du modèle de robot.
  6. Robot industriel selon l'une des revendications 3 à 5, dans lequel plusieurs règles de calcul pour calculer plusieurs modèles de robot du même type sont mémorisés dans le dispositif de commande (9) et le dispositif de commande (9) est conçu pour pouvoir choisir une des règles de calcul pour élaborer le modèle de robot.
  7. Robot industriel selon l'une des revendications 3 à 6, dans lequel le dispositif de commande (9) est conçu pour calculer à son démarrage le modèle de robot sur la base du jeu de données.
  8. Procédé d'élaboration d'un modèle robot mathématique d'un bras de robot (2) d'un robot industriel (1) qui présente le bras de robot (2) qui possède plusieurs membres (3-7) agencés les uns derrière les autres et reliés au moyen d'articulations et un dispositif de commande (9) qui commande et/ou règle le mouvement du bras de robot (2), présentant les étapes de procédé suivantes :
    - mesurage du bras de robot (2) pour obtenir des données de mesurage décrivant le bras de robot (2),
    - mémorisation d'un jeu de données électronique comprenant les données de mesurage dans un support de données (13) agencé dans ou sur le bras de robot (2), et
    - élaboration du modèle de robot au moyen du dispositif de commande (9) et sur la base du jeu de données.
  9. Procédé selon la revendication 8, dans lequel le modèle de robot est un modèle cinématique, un modèle dynamique et/ou un modèle absolument précis du bras de robot (2).
  10. Procédé selon la revendication 8 ou 9, présentant la mémorisation du modèle de robot dans le support de données (13) et/ou dans le dispositif de commande (9) après le calcul du modèle de robot.
  11. Procédé selon l'une quelconque des revendications 8 à 10, présentant les étapes de procédé additionnelles suivantes :
    - proposition de plusieurs règles de calcul mémorisées dans le dispositif de commande (9) pour calculer plusieurs modèles de robot du même type, et
    - calcul du modèle de robot sur la base de la règle de calcul choisie.
EP11172966.1A 2010-07-12 2011-07-07 Bras robotisé, robots industriels et méthode d'élaboration d'un modèle de robot mathématique Revoked EP2407283B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE201010031251 DE102010031251A1 (de) 2010-07-12 2010-07-12 Roboterarm, Industrieroboter und Verfahren zum Erstellen eines mathematischen Robotermodells

Publications (3)

Publication Number Publication Date
EP2407283A2 EP2407283A2 (fr) 2012-01-18
EP2407283A3 EP2407283A3 (fr) 2013-12-04
EP2407283B1 true EP2407283B1 (fr) 2017-03-22

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EP11172966.1A Revoked EP2407283B1 (fr) 2010-07-12 2011-07-07 Bras robotisé, robots industriels et méthode d'élaboration d'un modèle de robot mathématique

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EP (1) EP2407283B1 (fr)
DE (1) DE102010031251A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017122067A1 (de) * 2017-09-22 2019-03-28 Roschiwal + Partner Ingenieur Gmbh Augsburg Roboterfräsen

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012205291A1 (de) * 2012-03-30 2013-10-17 Siemens Aktiengesellschaft Sicherstellen der Positioniergenauigkeit von C-Bogensystemen durch numerische Optimierung
CN103399986B (zh) * 2013-07-02 2016-03-23 哈尔滨工业大学 基于微分几何的空间机械臂建模方法
CN105252548B (zh) * 2015-11-03 2017-03-08 葛洲坝易普力股份有限公司 不规则rpr、rp和pr型机械臂连杆坐标系统的运动学性能分析方法

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US20020173877A1 (en) * 2001-01-16 2002-11-21 Zweig Stephen Eliot Mobile robotic with web server and digital radio links
US6526332B2 (en) 2000-10-11 2003-02-25 Sony Corporation Robot control system and method for introducing robot control software
EP1415771A2 (fr) 2002-10-30 2004-05-06 Fanuc Ltd Robot comprenant une partie interchangeable munie d'une mémoire où sont stockées les caractéristiques de cette partie
US20050065651A1 (en) * 2003-07-24 2005-03-24 Joseph Ayers Process and architecture of robotic system to mimic animal behavior in the natural environment
EP1602456A2 (fr) 2004-06-02 2005-12-07 KUKA Roboter GmbH Procédé et dispositif de commande de manipulateurs
DE102004026814A1 (de) 2004-06-02 2005-12-29 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Verbessern der Positioniergenauigkeit eines Handhabungsgeräts
DE102004056861A1 (de) 2004-11-25 2006-06-08 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Regeln, Steuern von Manipulatoren
US20100030377A1 (en) * 2006-05-24 2010-02-04 John Unsworth Snaking Robotic Arm with Movable Shapers

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EP0605050A3 (fr) * 1992-12-28 1997-02-26 Koninkl Philips Electronics Nv ContrÔleur de mouvement des machines employant un modèle adaptif cinématique.
DE102008060052A1 (de) * 2008-12-02 2010-06-17 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Kompensation einer kinematischen Abweichung

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6526332B2 (en) 2000-10-11 2003-02-25 Sony Corporation Robot control system and method for introducing robot control software
US20020173877A1 (en) * 2001-01-16 2002-11-21 Zweig Stephen Eliot Mobile robotic with web server and digital radio links
EP1415771A2 (fr) 2002-10-30 2004-05-06 Fanuc Ltd Robot comprenant une partie interchangeable munie d'une mémoire où sont stockées les caractéristiques de cette partie
US20050065651A1 (en) * 2003-07-24 2005-03-24 Joseph Ayers Process and architecture of robotic system to mimic animal behavior in the natural environment
EP1602456A2 (fr) 2004-06-02 2005-12-07 KUKA Roboter GmbH Procédé et dispositif de commande de manipulateurs
DE102004026814A1 (de) 2004-06-02 2005-12-29 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Verbessern der Positioniergenauigkeit eines Handhabungsgeräts
DE102004056861A1 (de) 2004-11-25 2006-06-08 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Regeln, Steuern von Manipulatoren
US20100030377A1 (en) * 2006-05-24 2010-02-04 John Unsworth Snaking Robotic Arm with Movable Shapers

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017122067A1 (de) * 2017-09-22 2019-03-28 Roschiwal + Partner Ingenieur Gmbh Augsburg Roboterfräsen

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EP2407283A2 (fr) 2012-01-18
DE102010031251A1 (de) 2012-01-12
EP2407283A3 (fr) 2013-12-04

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